CN102829751A - Angle measuring device and measuring method and automobile with angle measuring device - Google Patents
Angle measuring device and measuring method and automobile with angle measuring device Download PDFInfo
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- CN102829751A CN102829751A CN2011101609704A CN201110160970A CN102829751A CN 102829751 A CN102829751 A CN 102829751A CN 2011101609704 A CN2011101609704 A CN 2011101609704A CN 201110160970 A CN201110160970 A CN 201110160970A CN 102829751 A CN102829751 A CN 102829751A
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Abstract
The invention provides an angle measuring device which comprises a sensing turntable, N sensing units and a controller, wherein N annular regions are formed on the sensing turntable, 2<N-1> metal strips are arranged on each annular region at equal intervals in the clearance of 2<N-1> units, and each metal strip covers one unit; each sensing unit corresponds to one annular region to scan the metal strip on the annular region; the controller calculates the rotation direction and rotation angle of the sensing turntable according to the detection of the N sensing units to the metal strips on the corresponding annular regions; and M and N are integers greater than or equal 1. The angle measuring device provided by the embodiment of the invention is simple in hardware, low in cost and convenient for installation. Furthermore, the angle measuring device can be realized just by using a simple sensor, such as a proximity switch, therefore, the shielding property, reliability and maintainability are higher and the harsh working condition at the construction time of engineering machinery can be met.
Description
Technical field
The present invention relates to field of automobile, particularly a kind of angle measurement unit, measuring method and have the pump truck of this angle measurement unit.
Background technology
Along with improving constantly of sensing technology, a lot of plant equipment are also improving constantly robotization, intelligent requirements.Yet robotization, the intelligent sensor that be unable to do without select right sensors just to seem particularly important.In a lot of equipment, angle value is a very important parameters, and particularly in the equipment of mechanical arm was arranged, such as mixed earth pump truck, crane etc., the gyrobearing of its capstan head directly had influence on the centre of gravity place of equipment, and the anglec of rotation that therefore detects capstan head is significant.In the modern electro-mechanical system, scrambler or specific type of electric machine, for example rotary transformer, inductosyn etc. are generally used in the measurement of angle of degree of precision.In present engineering machinery field, generally adopt rotary encoder to the measuring method of corner, other also has measures through pot or photoelectric sensor; With regard to result of use; The rotary encoder precision is high, measure accurately, feeds back very in time, and its result can satisfy the control requirement fully.But because rotary encoder itself is a kind of exact instrument, working environment is required than higher, therefore still have a lot of problems in actual use.
The shortcoming of prior art is that a lot of occasions are not high to the accuracy requirement of the anglec of rotation, but very harsh to the measuring sensor reliability requirement, so there is following problem in the use of rotary encoder:
1, rotary encoder is not suitable for open-air or shakes bad working environments such as bigger.
2, not high rotary encoder and the rotary encoder price comparison height of need not using of some occasion angle accuracy requirement.
3, rotary encoder controller is to received signal had relatively high expectations, and high-speed pulse counting or bus functionality need be arranged.
4, rotary encoder on-site maintenance difficulty is very big, and the layman can't accomplish.
Summary of the invention
The object of the invention is intended to solve at least above-mentioned technological deficiency, and it is complicated particularly to solve the used sensor construction of present measurement of angle, and cost is high, and is not suitable for the defective of bad working environments and maintenance difficult.
For achieving the above object, one aspect of the present invention has proposed a kind of angle measurement unit, comprising: the induction rotating disk, and said induction rotating disk is provided with N annular region, and wherein, each said annular region is divided into M * 2 equably
nIndividual unit, and on each annular region with 2
N-1The gap of individual unit equally spaced is provided with 2
N-1Individual bonding jumper, each said bonding jumper covers a said unit; N sensing unit, each said sensing unit is corresponding to scan the bonding jumper on the said annular region with an annular region; And controller; Said controller links to each other with a said N sensing unit; Said controller is according to sense of rotation and the anglec of rotation of a said N sensing unit to the said induction rotating disk of detection computations of the bonding jumper on the said annular region of correspondence, and wherein, M and N are the integer more than or equal to 1.
In one embodiment of the invention, a said N sensing unit is installed on the said induction rotating disk through fixed strip.
In one embodiment of the invention, said N is 3, and said M is 5.
In one embodiment of the invention; Said induction rotating disk comprises first to the 3rd annular region; Wherein, Each bonding jumper is uniformly-spaced arranged on said first annular region, and per two bonding jumpers are uniformly-spaced arranged on said second annular region, and per four bonding jumpers are uniformly-spaced arranged on said the 3rd annular region.
In one embodiment of the invention; Said controller with the testing result of bonding jumper on said first annular region as first; With the testing result of bonding jumper on said second annular region as second; As the 3rd scanning area signal that calculates said induction rotating disk, said controller is according to the sense of rotation and the anglec of rotation of the said induction rotating disk of said scanning area calculated signals with the testing result of bonding jumper on said the 3rd annular region.
In one embodiment of the invention, said first to the 3rd annular region series arrangement on said induction rotating disk.
In one embodiment of the invention, a said N annular region is positioned at the same one deck on the said induction rotating disk, or different layers.
In one embodiment of the invention, a said N sensing unit is near switch.
In one embodiment of the invention, a said N sensing unit is installed on the said induction rotating disk through same fixed strip, and said fixed strip passes the center of circle of a said N annular region.
The embodiment of the invention has also proposed a kind of automobile on the other hand, comprising: mechanical arm; Control the reductor of said mechanical arm rotation; With aforesaid angle measurement unit, wherein, the induction rotating disk of said angle measurement unit and the coaxial installation of said reductor, a said N sensing unit is fixed.
The embodiment of the invention has also proposed a kind of method that adopts aforesaid angle measurement unit to carry out measurement of angle more on the one hand, may further comprise the steps: control said induction rotating disk rotation; Said controller carries out reading according to predetermined period to a said N sensing unit; Said controller calculates the scanning area signal of said induction rotating disk according to said reading, and wherein, the scope of said scanning area signal is 0-(2
N-1); With sense of rotation and the anglec of rotation of said controller according to the said induction rotating disk of the change calculations of said scanning area signal.
The angle measurement unit hardware of the embodiment of the invention is simple, with low cost, easy for installation.And only use simple sensors, for example can realize near switch etc., thus barrier propterty, reliability and maintainable higher, the bad working environments in the time of can satisfying the engineering machinery construction.In addition, because the state encoding of embodiment of the invention rule is fairly simple, therefore be easy to realize the programming calculating of controller.
Aspect that the present invention adds and advantage part in the following description provide, and part will become obviously from the following description, or recognize through practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously with easily understanding becoming the description of embodiment below in conjunction with accompanying drawing, wherein:
Fig. 1 is the angle measurement unit structural drawing of the embodiment of the invention;
Fig. 2 a is the synoptic diagram of a kind of angle measurement unit of the embodiment of the invention;
Fig. 2 b is the synoptic diagram of the another kind of angle measurement unit of the embodiment of the invention;
Fig. 3 is the sequential chart of the embodiment of the invention first to the 3rd sensing unit;
Fig. 4 is the synoptic diagram that is electrically connected of angle measurement unit in the embodiment of the invention automobile;
Fig. 5 is the process flow diagram of the method for embodiment of the invention measurement of angle.
Embodiment
Describe embodiments of the invention below in detail, the example of said embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Be exemplary through the embodiment that is described with reference to the drawings below, only be used to explain the present invention, and can not be interpreted as limitation of the present invention.
As shown in Figure 1, be the angle measurement unit structural drawing of the embodiment of the invention.This angle measurement unit comprises induction rotating disk 100, a N sensing unit 200 and controller 300.In an embodiment of the present invention, induction rotating disk 100 is provided with N annular region, and wherein, each annular region is divided into M * 2 equably
NIndividual unit, and on each annular region with 2
N-1The gap of individual unit equally spaced is provided with 2
N-1Individual bonding jumper, each bonding jumper covers a unit.Need to prove at this; The above-mentioned unit of being divided is relative notion; Along with the diameter of each annular region is different, on this annular region on the size of unit and other annular regions the size of unit different, but this unit is identical with respect to the angle at the center of annular region.In one embodiment of the invention, induction rotating disk 100 is a metal dish, and bonding jumper is higher than the induction rotating disk so that sensing unit can only be sensed bonding jumper.Each sensing unit 200 is corresponding with an annular region of induction rotating disk 100 with the bonding jumper on the scanning annular region.Controller 300 links to each other with N sensing unit, and controller 300 is according to the sense of rotation and the anglec of rotation of the detection computations induction rotating disk 100 of the bonding jumper on the annular region of 200 pairs of correspondences of N sensing unit, and wherein, M and N are the integer more than or equal to 1.In an embodiment of the present invention; Need the bonding jumper on the induction rotating disk 100 to arrange with predetermined rule (being the coding of circulation change); Promptly along with the continuous rotation of responding to rotating disk 100; N sensing unit 200 reads on its corresponding annular region whether bonding jumper is arranged, if having then this sensing unit is output as 1, also can export 0 in other embodiments certainly.Then controller 300 changes the sense of rotation and the anglec of rotation that can judge induction rotating disk 100 according to the reading of N sensing unit 200.
In one embodiment of the invention, N sensing unit 200 is installed on the induction rotating disk 100 through fixed strip.
Below will introduce above-mentioned angle measurement unit with the mode of specific embodiment, in this embodiment, N is 3, and M is 5.Certainly in other embodiments, those skilled in the art can make amendment to the value of above-mentioned N and/or M, and these all should be included within the protection domain of the embodiment of the invention.
Shown in Fig. 2 a, be the synoptic diagram of a kind of angle measurement unit of the embodiment of the invention.Shown in Fig. 2 b, be the synoptic diagram of the another kind of angle measurement unit of the embodiment of the invention.As can be seen from the figure, induction rotating disk 100 comprises first annular region 110, second annular region 120 and the 3rd annular region 130.Wherein, first annular region 110, second annular region 120 and the 3rd annular region 130 series arrangement from inside to outside.But need to prove; First annular region 110, second annular region 120 and the 3rd annular region 130 do not have obvious or necessary ordinal relation; As long as meet preset rule; Change like first annular region 110, second annular region 120 and the 3rd annular region 130 orders, among controller 300, it is arranged again and get final product.Wherein, each bonding jumper is uniformly-spaced arranged on first annular region 110, and per two bonding jumpers are uniformly-spaced arranged on second annular region 120, and per four bonding jumpers are uniformly-spaced arranged on the 3rd annular region 130, and are as shown in the figure.This angle measurement unit also comprises the first sensing unit C, the second sensing unit B and the 3rd sensing unit A, and wherein, the first sensing unit C is used to detect the bonding jumper on first annular region 110, and the first sensing unit C is output as 1 when detecting bonding jumper; The second sensing unit B is used to detect the bonding jumper on second annular region 120, and the second sensing unit B is output as 1 when detecting bonding jumper; The 3rd sensing unit A is used to detect the bonding jumper on the 3rd annular region 130, and the 3rd sensing unit A is output as 1 when detecting bonding jumper.
Shown in Fig. 2 a and 2b, the first sensing unit C, the second sensing unit B and the 3rd sensing unit A are installed on the induction rotating disk 100 through same fixed strip D, and fixed strip D passes the center of circle of each annular region.The arrangement mode that need to prove the first sensing unit C, the second sensing unit B and the 3rd sensing unit A that the foregoing description is mentioned only is the preferred embodiments of the invention.Modification or conversion that those skilled in the art also can be equal to the above embodiment of the present invention for example can be arranged on the position H shown in Fig. 2 a with the second sensing unit B, also can reach the technique effect identical with above-mentioned arrangement mode.Certainly repeat no more at this in the position of convertible other sensing units also by that analogy.
| A | B | C | The |
| 0 | 0 | 0 | 0 |
| 0 | 0 | 1 | 1 |
| 0 | 1 | 0 | 2 |
| 0 | 1 | 1 | 3 |
| 1 | 0 | 0 | 4 |
| 1 | 0 | 1 | 5 |
| 1 | 1 | 0 | 6 |
| 1 | 1 | 1 | 7 |
, A, B, C represent that regional signal is 0 when not sensing signal; When A, B represent that the scanning area signal is 1 when C responds to less than responding to; When A, C represent that the scanning area signal is 2 when B responds to less than responding to; When B, C have induction and A representes that the scanning area signal is 3 when not responding to; When A senses and B, C represent when not sensing that the scanning area signal is 4; When A, C sense and B representes that the scanning area signal is 5 when not sensing; When A, B sense and C representes that the scanning area signal is 6 when not sensing; , A, B, C represent that the scanning area signal is 7 when sensing signal; Whole like this induction rotating disk all has only this eight kinds of scanning area signals and regularly arranged successively.As shown in Figure 3, be the sequential chart of the embodiment of the invention first to the 3rd sensing unit.Controller 300 is through all scanning area signals of this induction rotating disk 100 of record like this; And just can know the sense of rotation and the anglec of rotation of responding to rotating disk 100 according to the situation that these scanning area signals change; For example suppose that scanning area only once is changed to 6 from 1, then can judge induction rotating disk 100 and be rotated in the forward 6 unit angles according to Fig. 2 a.
In addition,, can increase the number of sensing unit, for example in diagram of the present invention, comprise two second sensing units, for example the second sensing unit B and the second sensing unit G for accuracy and the precision that improves detection.
As can be seen from the figure, regularly arranged opposite among Fig. 2 a and the 2b, for example from clockwise angle, for the induction rotating disk of Fig. 2 a, its reading is the circulation of 0-7, and for the induction rotating disk of Fig. 2 b, its reading is the circulation of 7-0.Particularly; For example for the induction rotating disk of Fig. 2 a; The induction rotating disk regional signal that controller is read when turning clockwise is followed successively by: 0,1,2,3,4,5,6,7,0,1, the 2... reference position at random; 0,7,6,5,4,3,2,1,0,7,6,5... when the induction rotating disk regional signal that controller is read when being rotated counterclockwise is followed successively by:, reference position at random.The embodiment of the invention just can be easy to draw sense of rotation according to the Changing Pattern of scanning area signal like this; For example going up one scan period zones signal is 0; Current scanning area signal is 1, then can confirm to respond to rotating disk for being rotated counterclockwise, otherwise for turning clockwise.The increase and decrease direction of sense of rotation decision angle value can be confirmed the anglec of rotation according to the regional change number of times again.
In one embodiment of the invention, the first sensing unit C, the second sensing unit B and the 3rd sensing unit A are installed on the induction rotating disk (E) 100 through fixed strip D.During work, fixed strip D is fixed, and induction rotating disk (E) 100 rotations make the sensing unit C that wins, the second sensing unit B and the 3rd sensing unit A can read the variation of bonding jumper on induction rotating disk (E) 100, thereby produce the scanning area signal.
In one embodiment of the invention, first annular region 110, second annular region 120 and the 3rd annular region 130 are positioned at the same one deck on the induction rotating disk 100.Certainly in other embodiments of the invention; First annular region 110, second annular region 120 and the 3rd annular region 130 also can be positioned at different layers, at this moment if the also corresponding layering of the first sensing unit C, the second sensing unit B and the 3rd sensing unit A install.In a preferred embodiment of the invention, sensing unit 200 can be near switch, when bonding jumper near the time produce corresponding signal.
In one embodiment of the invention; Controller 300 can be common PLC controller, nonshared control unit, computing machine etc.; Controller 300 receives the information that sensing unit detects, and is easy to be rotated the calculating of confirming to reach the anglec of rotation of direction through the state encoding of rule.
The embodiment of the invention has also proposed a kind of automobile on the other hand.This automobile can be the vehicle that concrete mixer, crane etc. have mechanical arm.This automobile comprises mechanical arm, the reductor of control mechanical arm rotation and angle measurement unit as above, wherein, and the induction rotating disk of this angle measurement unit and the coaxial installation of reductor, N sensing unit is fixed.As shown in Figure 4, be the synoptic diagram of the concrete mixer turntable of the embodiment of the invention.The arrangement mode of the distribution of sensing unit and Fig. 2 a and 2b has some differences among this embodiment; Wherein three sensing units are along the diameter setting of responding to rotating disk 100; Wherein, in three sensing units two, promptly the first sensing unit C and the 3rd sensing unit A are arranged on a side in induction rotating disk 100 centers of circle; Another sensing unit, promptly the second sensing unit B is arranged on a side in induction rotating disk 100 centers of circle.It will be appreciated by those skilled in the art that arrangement mode that sensing unit among Fig. 4 is such and the arrangement mode of Fig. 2 a and Fig. 2 b can serve the same role.Therefore all should be included within protection scope of the present invention for similar equivalent modifications or variation.
(N is 3 will to respond to rotating disk E; M is 5) be installed on the top of reductor (reduction gear ratio 16.1) gear F; The first sensing unit C, the second sensing unit B and the 3rd sensing unit A are connected as a single entity through fixed strip D and turntable seat; Can suitably regulate near switch A, B, C (model: DW-AS-521-M12) with the distance of responding to rotating disk E; Induction rotating disk E follows reducer gear F rotation during work, and the first sensing unit C, the second sensing unit B and the 3rd sensing unit A keep motionless with fixed strip, are electrically connected shown in Fig. 4.Particularly,
With the signal access controller 300 of the first sensing unit C, the second sensing unit B and the 3rd sensing unit A, controller 300 is through the regional signal of the first sensing unit C, the second sensing unit B and the 3rd sensing unit A induction metal rotary disk E, and detected scanning area signal of each scan period is all wanted and the scanning area signal in last one scan cycle compares; Relatively confirm the turntable sense of rotation through the scanning area signal; The increase and decrease direction of sense of rotation decision angle value, the every variation of scanning area signal once, the anglec of rotation all will increase or reduce 360/ (M*40); Wherein, M is the scale-up factor between induction rotating disk and the reductor, in one embodiment of the invention, and M=10.5; Be the every variation of scanning area signal once, the anglec of rotation all will increase or reduce 0.90 the degree.Be that positive dirction then has clockwise: whenever turn clockwise a zone then angle value increase by 0.90 and spend; Whenever be rotated counterclockwise then angle value minimizing 0.90 degree of a zone.
As shown in Figure 5, the process flow diagram for the method for embodiment of the invention measurement of angle may further comprise the steps:
Step S501, sense of control is answered the rotating disk rotation.
Step S502, controller carries out reading according to predetermined period to N sensing unit.
Step S503, controller calculates the scanning area signal of responding to rotating disk according to reading, and wherein, the scanning area signal is that scope is at 0-(2
N-1) between, and the coding of circulation change.
Step S504, controller is according to the sense of rotation and the anglec of rotation of the change calculations induction rotating disk of scanning area signal.
The angle measurement unit hardware of the embodiment of the invention is simple, with low cost, easy for installation.And only use simple sensors, for example can realize near switch etc., thus barrier propterty, reliability and maintainable higher, the bad working environments in the time of can satisfying the engineering machinery construction.In addition, because the state encoding of embodiment of the invention rule is fairly simple, therefore be easy to realize the programming calculating of controller.
In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means the concrete characteristic, structure, material or the characteristics that combine this embodiment or example to describe and is contained at least one embodiment of the present invention or the example.In this manual, the schematic statement to above-mentioned term not necessarily refers to identical embodiment or example.And concrete characteristic, structure, material or the characteristics of description can combine with suitable manner in any one or more embodiment or example.
Although illustrated and described embodiments of the invention; For those of ordinary skill in the art; Be appreciated that under the situation that does not break away from principle of the present invention and spirit and can carry out multiple variation, modification, replacement and modification that scope of the present invention is accompanying claims and be equal to and limit to these embodiment.
Claims (11)
1. an angle measurement unit is characterized in that, comprising:
The induction rotating disk, said induction rotating disk is provided with N annular region, and wherein, each said annular region is divided into M * 2 equably
NIndividual unit, and on each annular region with 2
N-1The gap of individual unit equally spaced is provided with 2
N-1Individual bonding jumper, each said bonding jumper covers a said unit;
N sensing unit, each said sensing unit is corresponding to scan the bonding jumper on the said annular region with an annular region; With
Controller; Said controller links to each other with a said N sensing unit; Said controller is according to sense of rotation and the anglec of rotation of a said N sensing unit to the said induction rotating disk of detection computations of the bonding jumper on the said annular region of correspondence, and wherein, M and N are the integer more than or equal to 1.
2. angle measurement unit as claimed in claim 1 is characterized in that, a said N sensing unit is installed on the said induction rotating disk through fixed strip.
3. angle measurement unit as claimed in claim 1 is characterized in that, said N is 3, and said M is 5.
4. angle measurement unit as claimed in claim 3; It is characterized in that; Said induction rotating disk comprises first to the 3rd annular region, and wherein, each bonding jumper is uniformly-spaced arranged on said first annular region; Per two bonding jumpers are uniformly-spaced arranged on said second annular region, and per four bonding jumpers are uniformly-spaced arranged on said the 3rd annular region.
5. angle measurement unit as claimed in claim 4; It is characterized in that; Said controller with the testing result of bonding jumper on said first annular region as first; As second, as the 3rd scanning area signal that calculates said induction rotating disk, said controller is according to the sense of rotation and the anglec of rotation of the said induction rotating disk of said scanning area calculated signals with the testing result of bonding jumper on said the 3rd annular region with the testing result of bonding jumper on said second annular region.
6. angle measurement unit as claimed in claim 4 is characterized in that, said first to the 3rd annular region series arrangement on said induction rotating disk.
7. angle measurement unit as claimed in claim 1 is characterized in that, a said N annular region is positioned at the same one deck on the said induction rotating disk, or different layers.
8. angle measurement unit as claimed in claim 1 is characterized in that, a said N sensing unit is near switch.
9. angle measurement unit as claimed in claim 2 is characterized in that, a said N sensing unit is installed on the said induction rotating disk through same fixed strip, and said fixed strip passes the center of circle of a said N annular region.
10. an automobile is characterized in that, comprising:
Mechanical arm;
Control the reductor of said mechanical arm rotation; With
Like each described angle measurement unit of claim 1-9, wherein, the induction rotating disk of said angle measurement unit and the coaxial installation of said reductor, a said N sensing unit is fixed.
11. the method that an employing such as each described angle measurement unit of claim 1-9 carry out measurement of angle is characterized in that, may further comprise the steps:
Control said induction rotating disk rotation;
Said controller carries out reading according to predetermined period to a said N sensing unit;
Said controller calculates the scanning area signal of said induction rotating disk according to said reading, and wherein, the scope of said scanning area signal is 0-(2
N-1); With
Said controller is according to the sense of rotation and the anglec of rotation of the said induction rotating disk of the change calculations of said scanning area signal.
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| CN201110160970.4A CN102829751B (en) | 2011-06-15 | 2011-06-15 | Angle measurement unit, measuring method and there is the automobile of this angle measurement unit |
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|---|---|---|---|
| CN201110160970.4A CN102829751B (en) | 2011-06-15 | 2011-06-15 | Angle measurement unit, measuring method and there is the automobile of this angle measurement unit |
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| CN102829751B CN102829751B (en) | 2015-09-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104555738A (en) * | 2015-01-19 | 2015-04-29 | 浙江三一装备有限公司 | Crane and rotation angle measuring device thereof |
| CN110779489A (en) * | 2019-10-17 | 2020-02-11 | 中国航空工业集团公司洛阳电光设备研究所 | Device and method for measuring rotation state of rotating protective cover by using double sensors |
| WO2020052299A1 (en) * | 2018-09-14 | 2020-03-19 | 京信通信技术(广州)有限公司 | Antenna, rotating member, and detection device for detecting position information of rotating member |
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| CN201548197U (en) * | 2009-06-30 | 2010-08-11 | 河南中光学集团有限公司 | Simple angle measurement device |
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| JP2004045302A (en) * | 2002-07-15 | 2004-02-12 | Hitachi Cable Ltd | Detector for steering angle and steering effort |
| US20080204118A1 (en) * | 2005-02-08 | 2008-08-28 | Thomas Kuhn | Inductive Proximity Switch Based on a Transformer Coupling Factor Principle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104555738A (en) * | 2015-01-19 | 2015-04-29 | 浙江三一装备有限公司 | Crane and rotation angle measuring device thereof |
| WO2020052299A1 (en) * | 2018-09-14 | 2020-03-19 | 京信通信技术(广州)有限公司 | Antenna, rotating member, and detection device for detecting position information of rotating member |
| CN110779489A (en) * | 2019-10-17 | 2020-02-11 | 中国航空工业集团公司洛阳电光设备研究所 | Device and method for measuring rotation state of rotating protective cover by using double sensors |
| CN110779489B (en) * | 2019-10-17 | 2021-08-13 | 中国航空工业集团公司洛阳电光设备研究所 | Device and method for measuring rotation state of rotating protective cover by using double sensors |
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| CN102829751B (en) | 2015-09-09 |
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